Vision Autonomes Fahren im Urbanen Umfeld - Dr. Heinrich Gotzig g Expertise & RAISE Director Valeo CDV Valeo Senior Expert - REM 2030

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Vision Autonomes
Fahren im Urbanen
Umfeld

                        Dr. Heinrich Gotzig
                                          g
      Expertise & RAISE Director Valeo CDV
                       Valeo Senior Expert
Agenda
Automotive Megatrends

On the way towards Autonomous Driving

Sensor Technologies

Fusion concept / architecture

Park4U®Remote

Current development activities

Summary

    13.Nov. 2012 „Zulieferertag Automobil“   VALEO confidental   I
Pleasure to drive

 We enjoy driving…

              Here.                            There?

         If d
            driving
                  g is
                     s a bu
                         burden,
                            de , what
                                   at is
                                       s the
                                         t e end
                                             e d user
                                                 use expectation?
                                                      e pectat o

   13.Nov. 2012 „Zulieferertag Automobil“   VALEO confidental   I
Urbanization

 More and more driving takes place in urban environments

   13.Nov. 2012 „Zulieferertag Automobil“   VALEO confidental   I
Megatrends: Sustainable Mobility

                                            Mobility in urban environments
                                            Î   Parking and maneuvering support
                                            Î   Automatic docking and charging for EVs
                                            Î   Car-sharing with partially autonomous
                                                elements, e.g. redispatching

                                            Stay mobil at an older age
                                            Î   Not enoug adults to take care on the eldery
                                            Î   Quality of living

                                            Accident Avoidance:
                                            Î   „Vision
                                                 Vision Zero“
                                                        Zero stop traffic fatalities
                                                – Active safety systems
                                                – Intelligent infrastructure
                                            Î   „
                                                „Decade for Action“: Reduction of
                                                worldwide traffic fatalities by 5 million

   13.Nov. 2012 „Zulieferertag Automobil“                      VALEO confidental       I
On the way to Autonomous Driving

                                        Routine                        Ausnahme

                              unaufmerksam
                                  f   k                 positives           üb f d t
                                                                            überfordert
                                                       Fahrerlebnis

                               Delegation/                               unterstützender
                                Warnung                angepasste            Eingriff
Already existing:                                      Information
 Semi-automatic Parking           High-beam Assist                    Lane Keeping            Emergency Braking

Active projects:                  The Vision: Autopilot
         AMARE                       ICADAC                           SPEEDCAM                     AROS
         Modulowatt
          odu o a                                                                              Vehicle dynamics
 Automatic docking/parking        Improved vision in                 Next generation           for automation in
    for Electric Vehicles          adverse weather               Traffic Sign Recognition    Parking & Manoeuvring
                                     Fraunhofer

            13.Nov. 2012 „Zulieferertag Automobil“                                 VALEO confidental    I
On the way to autonomous Driving

 Concrete timeline communicated
 by automotive OEMs:

 “Latest in 2020, technologies like
automatic driving will be standard.”
           Ulrich Hackenberg
     VW, Member of the Board for R&D

                                              “Vehicles that partially drive themselves
                                                will be available by the middle of the
                                                                      p
                                                decade with more sophisticated   self-
                                             driving systems by the end of the decade”
                                                                Alan Taub
                                                   GM VP Global Research & Development

    13.Nov. 2012 „Zulieferertag Automobil“              VALEO confidental       I
Autonomous Driving – Technical Challenges

Environmental Sensors                            Signal Processing

Today: Eye of Driver                             Today: Human brain

Aut Dri: several ranging + vision sensors,       Aut Dri.: signal processing unit which

   which are able to record ALL needed                 p
                                                    computes all recordes informations

    informations on environment                     (sensors + infrastructure) and decides

                                                    on activities like perfect driver would do

Infrastructure                                   User

Today: passive traffic signs                     Today: driver in full controll of car

Aut Dri: active traffic signs (time dependent)   Aut Dri.: driver has to hand over / get back

    informations on traffic situations /            controll to / of vehicle. Acceptance, under

    participants, GPS, maps, …                      which conditions, situations, how … ???

                                                    Diff
                                                    Different
                                                            t user expectations
                                                                        t ti    (age,
                                                                                (     culture,
                                                                                        lt     …))

        13.Nov. 2012 „Zulieferertag Automobil“                    VALEO confidental       I
Where is Valeo today?
Valeo offers Multiple Sensor Technologies

 Ranging and perception necessary to support both models
 Î   Vision systems as reference to what the human perceives
     – Also provide „every day value“ through enhanced visibility
 Î   Radar, Lidar, IR and Ultrasonics to complement the human senses

 Sensor fusion takes care of functional safety through redundancy
 Î   Odometry experience from multiple OEM projects in the last 5 years
 Î   Fusion map in series development
                                                    Technology           Strengths                                    Limitations                             Market   Trend

                                                    Ultrasonics          Inexpensive (150m)                   Significant cost (100-200€)
                                                    FMCW                 Good angular accuracy (up to 1°)             Limited object separation and                     Ò
                                                                         Compact size (e.g. 7x7x5cm)                  classification
                                                    Radar 79GHz –        Much better resolution than FMCW             Regulations not yet approved
                                                    UWB                                                                                                                 Ò
                                                    Camera – monocular   Multifunctional, close to human perception   Same as human vision (rain/fog etc)
                                                    (i
                                                    (image processing)
                                                                  i )    R
                                                                         Reasonable
                                                                                  bl costt (60-100€)
                                                                                            (60 100€)                 N d illumination
                                                                                                                      Needs ill i ti att night
                                                                                                                                          i ht                          Ò
                                                    Camera – stereo      Multifunctional, close to human perception   Same as human vision (rain/fog etc)
                                                                         Calculates depth/distance information        Needs illumination at night                        ?
                                                    Camera – 3D TOF      Multifunctional, close to human perception   Same as human vision (rain/fog etc)
                                                    (PMD)                Calculates depth/distance information        Resolution limited by prototype chips              ?
                                                    Lidar – Fixed Beam   Precise „in/out“ localization of objects     Similar to human vision (rain/spray)
                                                                         Reasonable cost (40-60€)                     Sensor needs to be visible                        Ò
                                                    Lidar – Scanning     Long-range capable (>100m)                   Similar to human vision (rain/spray)
                                                                         Very good angular accuracy (0,25
                                                                                                    (0 25°))          Sensor needs to be visible                        Ò

     13.Nov. 2012 „Zulieferertag Automobil“                                            VALEO confidental                                              I
Valeo Architecture Proposal
Fusion ECU as Core Element

                                   C2                                             R1
                       U7                                                    U1
                 U8                                                                    U2

               U9                                                                       U3

         LS     C4                      FC
                                                    Fusion                             C1
              R3
                                                     ECU
               U10                                                                      U4

                U11                                                                    U5
                      U12                                                    U6
                                   C3                                             R2

Front Camera          Viewing Camera         Ultrasonic Sensor         Radar Sensor          Laser Scanner

                                                             Fusion Controller

      13.Nov. 2012 „Zulieferertag Automobil“                                 VALEO confidental        I
Map-based Detection of the Environment
Basis for Sensor Data Fusion

 Combination of sensor data from different sources
 Î   Redundancy for safety classification
 Î   Increased density of information in difficult conditions                        Currently still separate HMI

 Four Fusion Layers                                                               Valeo Fusion-ECU
 Î   Points, Features, Objects and Scenarios                        UPA Sensors
 Î   Common path planning, tracking and prediction                     P4U Sensors

 Open Architecture                                                                                    Wide-angle
                                                                                                      Digital Camera
 Î   Integration of 3rd party sensor information
 Î   Scalable for different models

 Distributed Architecture Option
 Î   Stand alone camera and Park4U can share the map
     Stand-alone
 Î   Identical software modules for different architectures

     13.Nov. 2012 „Zulieferertag Automobil“                     VALEO confidental              I
Fusion concept

 Associates features from
 different sensor channels

 Associates objects from
 different sensor channels

 Computes a combined
 confidence of a feature

 Computes a combined
 confidence of a object

 Fuses the location
 information and computes
 a new uncertaintyy

   13.Nov. 2012 „Zulieferertag Automobil“   VALEO confidental   I
Modular Feature/Technology Approach

Standard (Technology Bricks)                              Customer Specific Implementation

                                                              Package/     Mechanical
                                                              Brackets     Integration
           Ultrasonic      Interface                 Path
                                       Detection
            Sensors         HW/SW                  Planning
                                                              Physical      Electrical
                                                               Layer       Integration
                                        Tracking   Odometry
                                                                            Software
                                                                NOS
                                                                           Integration
              Vision       Interface    Classi-
                                                      …
             Sensors        HW/SW       fication
                                                                             System
                                                                HMI
                                                                           I t
                                                                           Integration
                                                                                  ti
                                        Threat
                                                      …
                                       Assessmt.
                                                              Interface     Steering
                                                               HW/SW        System
              Radar        Interface    Decision
                                                      …
             Sensors        HW/SW       Module
                                                              Interface     Braking
                                                               HW/SW        System

          Sensor Frontend               Core Algorithms       Vehicle/System Integration

    13.Nov. 2012 „Zulieferertag Automobil“                     VALEO confidental       I
360Map Fusion Software Architecture
                    High Level Overview
                                                                                  S S
                                                                                  SYSTEM OUTPUT
                                                                                         O
                                                                      Dot Matrix            Video                 Steering                Brake

                                                                                                                                                                                     Wheellspeed
                                                       Speakers
                                                                       Display              Screen                Actuator               Actuator
                    Gearbox
                       ector

                                                                                                                                                                                      Sensors
                                                                                                                     Vehicle Dynamics
                    Sele

                                                       HMI Frontend (Audio, Video, Haptics)
                                                                                                                         Frontend

                                                                               Feature Logic and Abstraction

                                                                                                                                                                            ng

                                                                                                                                                                                                             CLE STAUS
                                                                                                                                                                                                                     S
                                                                                                                                                                  cs Modellin
                    Steering

                                                                                                                                                                                     Steering
                                                               Warning and                                                     Vehicle
                     Torque

                                                                                             Path

                                                                                                                                                                                      Angle
DRIVER IINPUTS

                                                               Information                                                     Control
                                    Driver Intention

                                                                                           Planning

                                                                                              Interpretation layer

                                                                                                                                                                                                     OST VEHIC
                                                                                                                                                          e Dynamic
                                                                                                  Object layer                  Odometry
                                                                                   MAP                                     (History, Prediction,

                                                                                                                                                                                     Acceleration
                                                                                                 Contour layer
                                                                                                                                Tracking)

                                                                                                                                                                                       aw Rate
                       witches

                                                                                                  Points layer

                                                                                                                                                                                                    HO
                                                                                                                                                    Vehicle
                      Sw

                                                                                  Environmental Information

                                                                                                                                                                                      Ya
                                                                                     (Point / Contour / Object)

                                                         Ultrasonic          Sensor control and low                 Image
                                                        Core Module            level processing                   Processing
                      …

                                                                                                                                                                                        ..
                                                        Ultrasonic     Infrared             Radar                  Camera
       Raw Signal                 Sensor
                                                        Frontend       Frontend            Frontend               Frontend
                                                                                                                                      (other)
       Processing                Diagnosis

                 Sensor Control Loop                                         ENVIRONMENT DETECTION

                                  13.Nov. 2012 „Zulieferertag Automobil“                                                       VALEO confidental                                 I
Parking/Manoeuvring and Urban Driving
ongoing development activities
                                                                                                   Ultrasonic     Camera        Radar        Lidar

    Parallel                 Perpendicular          Turn                     Perpendicular            Passage                   Lateral Blind Spot
A   Parking
                        B    Parking
                                                C   (Side Protection)
                                                                        D    Parking
                                                                                                  E                        F
                             (Reverse)                                       (Forward)

                 in/           in/                                                          in/
                 out           out                                                          out

                                                     Visibility – Driver Information
    Rear View               Rear/U-View             Top/U-/O-View           Top/U-/O-View             Top/U-/O-View             Top/U-/O-View
     Available (2004)        Available (2004)        Available (2009)         Available (2010)         Available (2010)          Available (2010)

                                                      Escalation – Driver Warning                                              Ultras. Blind Spot/
    Video Overlays          Video Overlays          FlankGuard              Video Overlays            PathVue                  Door Opening Alert
    [UPark – on(2007)
     Available  hold]        Available (2007)        Planned (2010)           Available (2010)         Planned (2013)           Available (2011+)

    Park4U              Park4U                       Active Intervention – Steering                                             Side Collision Prev.
    Gen2: Stop@End      Gen3: Line Detection        FlankGuide               Garage Parking           PathGuide                 Parallel Unpark
     Available (2010)       Available (2010+)       Available (2013+)        Planned (2013+)           Planned (2015)            Planned (2013+)

           13.Nov. 2012 „Zulieferertag Automobil“                                                 VALEO confidental                 I
Ultrasonic/Camera Fusion
Example Park4U® Remote

   13.Nov. 2012 „Zulieferertag Automobil“   VALEO confidental   I
Vienna Convention on Road Traffic – Park4U ®Remote

 Driver has to consciously trigger the maneuver
 Î   Process is predefined within close limits (speed, permissible movements)

 Driver has to confirm the maneuver is proceeding properly

 Driver has the opportunity to survey the vehicle surroundings
 Î   Better than from the inside…

 Any ambiguity will interrupt the maneuver immediately
 Î   Sensors monitor surrounding and will brake on unexpected obstacles

     13.Nov. 2012 „Zulieferertag Automobil“                 VALEO confidental   I
Park4U®Remote
next steps

    13.Nov. 2012 „Zulieferertag Automobil“   VALEO confidental   I
Summary

One automotive megatrend is mobility in urban environment

A t
Autonomous d
           driving
             i i   needs
                      d to
                         t be
                           b reliable,
                               li bl affordable,
                                       ff d bl user friendly
                                                    f i dl ...

Systems require redundant information
Î   Sensor data from ranging systems (Radar, Ultrasonic) are fused with
    Vision systems using image processing for object detection

Î   Viewing cameras become sensors

Environment map as fusion platform
Î   Object detection by multiple sources (confidence, classification etc.)

Î   Calculation of vehicle position and trajectory

Î   Points layer Æ Contour layer Æ Object layer Æ Interpretation layer

Valeo is working towards autonomous driving in urban environment

       13.Nov. 2012 „Zulieferertag Automobil“                                VALEO confidental   I
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